//=================================================================================================
// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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//=================================================================================================

#ifndef POSE_INFO_CONTAINER_H__
#define POSE_INFO_CONTAINER_H__

#include <tf/transform_datatypes.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <Eigen/Core>

class PoseInfoContainer
{
public:
    void update(const Eigen::Vector3f &slamPose, const Eigen::Matrix3f &slamCov, const ros::Time &stamp, const std::string &frame_id);

    const geometry_msgs::PoseStamped &getPoseStamped() { return stampedPose_; };
    const geometry_msgs::PoseWithCovarianceStamped &getPoseWithCovarianceStamped() { return covPose_; };
    const tf::Transform &getTfTransform() { return poseTransform_; };

protected:
    geometry_msgs::PoseStamped stampedPose_;
    geometry_msgs::PoseWithCovarianceStamped covPose_;
    tf::Transform poseTransform_;
};

void PoseInfoContainer::update(const Eigen::Vector3f &slamPose, const Eigen::Matrix3f &slamCov, const ros::Time &stamp, const std::string &frame_id)
{
    //Fill stampedPose
    std_msgs::Header &header = stampedPose_.header;
    header.stamp = stamp;
    header.frame_id = frame_id;

    geometry_msgs::Pose &pose = stampedPose_.pose;
    pose.position.x = slamPose.x();
    pose.position.y = slamPose.y();

    pose.orientation.w = cos(slamPose.z() * 0.5f);
    pose.orientation.z = sin(slamPose.z() * 0.5f);

    //Fill covPose
    //geometry_msgs::PoseWithCovarianceStamped covPose;
    covPose_.header = header;
    covPose_.pose.pose = pose;

    boost::array<double, 36> &cov(covPose_.pose.covariance);

    cov[0] = static_cast<double>(slamCov(0, 0));
    cov[7] = static_cast<double>(slamCov(1, 1));
    cov[35] = static_cast<double>(slamCov(2, 2));

    double xyC = static_cast<double>(slamCov(0, 1));
    cov[1] = xyC;
    cov[6] = xyC;

    double xaC = static_cast<double>(slamCov(0, 2));
    cov[5] = xaC;
    cov[30] = xaC;

    double yaC = static_cast<double>(slamCov(1, 2));
    cov[11] = yaC;
    cov[31] = yaC;

    //Fill tf tansform
    tf::poseMsgToTF(pose, poseTransform_);
}

#endif
